EP2812222A4 - Erkennung von fahrspurmarkierungen - Google Patents

Erkennung von fahrspurmarkierungen

Info

Publication number
EP2812222A4
EP2812222A4 EP13810454.2A EP13810454A EP2812222A4 EP 2812222 A4 EP2812222 A4 EP 2812222A4 EP 13810454 A EP13810454 A EP 13810454A EP 2812222 A4 EP2812222 A4 EP 2812222A4
Authority
EP
European Patent Office
Prior art keywords
lane markings
detecting lane
detecting
markings
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP13810454.2A
Other languages
English (en)
French (fr)
Other versions
EP2812222A2 (de
Inventor
Donald Jason Burnette
David I Ferguson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Waymo LLC
Original Assignee
Google LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Google LLC filed Critical Google LLC
Publication of EP2812222A2 publication Critical patent/EP2812222A2/de
Publication of EP2812222A4 publication Critical patent/EP2812222A4/de
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • G06V10/145—Illumination specially adapted for pattern recognition, e.g. using gratings
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • Electromagnetism (AREA)
  • Human Computer Interaction (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Instructional Devices (AREA)
  • Navigation (AREA)
EP13810454.2A 2012-03-23 2013-03-21 Erkennung von fahrspurmarkierungen Withdrawn EP2812222A4 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/427,964 US20130253753A1 (en) 2012-03-23 2012-03-23 Detecting lane markings
PCT/US2013/033315 WO2014003860A2 (en) 2012-03-23 2013-03-21 Detecting lane markings

Publications (2)

Publication Number Publication Date
EP2812222A2 EP2812222A2 (de) 2014-12-17
EP2812222A4 true EP2812222A4 (de) 2015-05-06

Family

ID=49212734

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13810454.2A Withdrawn EP2812222A4 (de) 2012-03-23 2013-03-21 Erkennung von fahrspurmarkierungen

Country Status (6)

Country Link
US (1) US20130253753A1 (de)
EP (1) EP2812222A4 (de)
JP (2) JP6453209B2 (de)
KR (1) KR20140138762A (de)
CN (2) CN107798305B (de)
WO (1) WO2014003860A2 (de)

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US9600999B2 (en) * 2014-05-21 2017-03-21 Universal City Studios Llc Amusement park element tracking system
US10317231B2 (en) 2014-06-10 2019-06-11 Mobileye Vision Technologies Ltd. Top-down refinement in lane marking navigation
WO2016027270A1 (en) 2014-08-18 2016-02-25 Mobileye Vision Technologies Ltd. Recognition and prediction of lane constraints and construction areas in navigation
DE102015201555A1 (de) * 2015-01-29 2016-08-04 Robert Bosch Gmbh Verfahren und Vorrichtung zum Betreiben eines Fahrzeugs
KR101694347B1 (ko) * 2015-08-31 2017-01-09 현대자동차주식회사 차량 및 차선인지방법
DE102015218890A1 (de) * 2015-09-30 2017-03-30 Robert Bosch Gmbh Verfahren und Vorrichtung zum Generieren eines Ausgangsdatenstroms
KR20170054186A (ko) 2015-11-09 2017-05-17 현대자동차주식회사 자율주행차량 제어 장치 및 그 방법
JP2017161363A (ja) * 2016-03-09 2017-09-14 株式会社デンソー 区画線認識装置
US10121367B2 (en) * 2016-04-29 2018-11-06 Ford Global Technologies, Llc Vehicle lane map estimation
JP2017200786A (ja) 2016-05-02 2017-11-09 本田技研工業株式会社 車両制御システム、車両制御方法、および車両制御プログラム
DE102016214027A1 (de) 2016-07-29 2018-02-01 Volkswagen Aktiengesellschaft Verfahren und System zum Erfassen von Landmarken in einem Verkehrsumfeld einer mobilen Einheit
CN111542860B (zh) * 2016-12-30 2024-08-27 辉达公司 用于自主车辆的高清地图的标志和车道创建
WO2018131061A1 (ja) * 2017-01-10 2018-07-19 三菱電機株式会社 走行路認識装置及び走行路認識方法
JP6871782B2 (ja) * 2017-03-31 2021-05-12 株式会社パスコ 道路標示検出装置、道路標示検出方法、プログラム、及び道路面検出装置
US11288959B2 (en) 2017-10-31 2022-03-29 Bosch Automotive Service Solutions Inc. Active lane markers having driver assistance feedback
KR102464586B1 (ko) * 2017-11-30 2022-11-07 현대오토에버 주식회사 신호등 위치 저장 장치 및 방법
CN108319262B (zh) * 2017-12-21 2021-05-14 合肥中导机器人科技有限公司 一种激光反射板反射点的滤选方法及激光导航方法
US10684131B2 (en) 2018-01-04 2020-06-16 Wipro Limited Method and system for generating and updating vehicle navigation maps with features of navigation paths
DE102018203440A1 (de) * 2018-03-07 2019-09-12 Robert Bosch Gmbh Verfahren und Lokalisierungssystem zum Erstellen oder Aktualisieren einer Umgebungskarte
DE102018112202A1 (de) * 2018-05-22 2019-11-28 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Verfahren und Vorrichtung zum Erkennen eines Fahrspurwechsels durch ein Fahrzeug
US10598791B2 (en) * 2018-07-31 2020-03-24 Uatc, Llc Object detection based on Lidar intensity
DK180774B1 (en) * 2018-10-29 2022-03-04 Motional Ad Llc Automatic annotation of environmental features in a map during navigation of a vehicle
US10976747B2 (en) * 2018-10-29 2021-04-13 Here Global B.V. Method and apparatus for generating a representation of an environment
KR102602224B1 (ko) * 2018-11-06 2023-11-14 현대자동차주식회사 주행차량 위치 인식 방법 및 장치
US11693423B2 (en) * 2018-12-19 2023-07-04 Waymo Llc Model for excluding vehicle from sensor field of view
WO2020133369A1 (en) * 2018-12-29 2020-07-02 Beijing Didi Infinity Technology And Development Co., Ltd. Identifying a curb based on 3-d sensor data
JP7245084B2 (ja) * 2019-03-15 2023-03-23 日立Astemo株式会社 自動運転システム
US20200393265A1 (en) * 2019-06-11 2020-12-17 DeepMap Inc. Lane line determination for high definition maps
US11209824B1 (en) * 2019-06-12 2021-12-28 Kingman Ag, Llc Navigation system and method for guiding an autonomous vehicle through rows of plants or markers
KR102355914B1 (ko) * 2020-08-31 2022-02-07 (주)오토노머스에이투지 라이다 센서를 이용한 주행 도로의 반사율에 기반하여 이동체의 이동 속도를 제어하기 위한 방법 및 이를 이용한 속도 제어 장치
US20230406332A1 (en) * 2020-11-16 2023-12-21 Mitsubishi Electric Corporation Vehicle control system
JP7435432B2 (ja) * 2020-12-15 2024-02-21 株式会社豊田自動織機 フォークリフト
US11776282B2 (en) 2021-03-26 2023-10-03 Here Global B.V. Method, apparatus, and system for removing outliers from road lane marking data
CN113758501B (zh) * 2021-09-08 2024-06-04 广州小鹏自动驾驶科技有限公司 检测地图中的异常车道线的方法和可读存储介质

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US20100121577A1 (en) * 2008-04-24 2010-05-13 Gm Global Technology Operations, Inc. Three-dimensional lidar-based clear path detection
EP2228782A1 (de) * 2009-02-20 2010-09-15 Navteq North America, LLC Bestimmung von Fahrwegsmarkierungen auf Grundlage von Retroreflexion
US20110200258A1 (en) * 2010-02-12 2011-08-18 Denso Corporation Lane-marker recognition system with improved recognition-performance

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EP2228782A1 (de) * 2009-02-20 2010-09-15 Navteq North America, LLC Bestimmung von Fahrwegsmarkierungen auf Grundlage von Retroreflexion
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Title
See also references of WO2014003860A2 *

Also Published As

Publication number Publication date
EP2812222A2 (de) 2014-12-17
CN104203702B (zh) 2017-11-24
US20130253753A1 (en) 2013-09-26
WO2014003860A2 (en) 2014-01-03
CN104203702A (zh) 2014-12-10
CN107798305B (zh) 2021-12-07
CN107798305A (zh) 2018-03-13
WO2014003860A3 (en) 2014-03-06
JP2015514034A (ja) 2015-05-18
KR20140138762A (ko) 2014-12-04
JP2018026150A (ja) 2018-02-15
JP6453209B2 (ja) 2019-01-16

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